| 摘要 |
1,263,993. Leader gear systems. ROBERT BOSCH G.m.b.H. 3 March, 1969 [2 March, 1968], No. 11106/69. Heading H4U. In a system for controlling the steering of a vehicle in accordance with the electromagnetic field of a conductor arranged along the route of the vehicle, the vehicle carries a first pick-up coil 20, Fig. 1, positioned with its axis horizontal and transverse to the direction of travel and second pick-up coil 22 with its axis vertical and in front of the first coil, voltage induced in the first coil providing a phase reference for voltage induced in the second coil. The output of the reference coil 20 is supplied via tuned amplifier 21 to a trigger circuit 28 which supplies a squarewave output to AND gates 30 and 31. The signal coil 22 via tuned amplifier 23 controls a trigger circuit 29 supplying a square-wave signal to AND gate 30 and this signal inverted to AND gate 31. The arrangement is such that if the signals from the coils 20, 22 are in phase the vehicle is deviating to the left and the gate 30 supplies a signal via R.C. stage 32 to a trigger 34 to provide an input to an AND gate 36. If the outputs of the coils are in antiphase the vehicle is deviating to the right and an output is supplied via gate 31, R.C. circuit 33 and trigger 35 to an AND gate 37. When the vehicle is on course there is no output from coil 22 and neither gate 30 nor 31 will open. A control device 63 switches off the vehicle driving motor if the vehicle deviates from the route by an excessive amount. The tuned amplifiers may be switched by relays to operate at different frequencies, Fig. 9 (not shown), so that the vehicle may follow conductors energized by different frequencies. A pulse width control device 38 supplies pulses via whichever gate 36 or 37 is opened to control the direction and in accordance with the pulse width the number of revolutions of the steering motor 40. Narrow pulses from a multivibrator 39, Fig. 10, charge a capacitor 41 which blocks a transistor 49 until the capacitor is discharged via a variable impedance 50 which may be a transistor, the impedance 50 being controlled by the output of coil 22 via amplifier 23 and terminal 45 so that its value is reduced as the output of amplifier 23 increases and vice versa. By this means widthmodulated pulses are supplied via terminal 47 to the appropriate gate 36 or 37. An output from trigger 34 or 35 is differentiated at 54 and supplied to the base of transistor 49 so that initially a short correcting pulse is provided, the fine correction then taking place as described. |
